Generation de mouvements pour un manipulateur mobile non-holonome

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ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (494 download)

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Book Synopsis Generation de mouvements pour un manipulateur mobile non-holonome by : Clotilde Perrier

Download or read book Generation de mouvements pour un manipulateur mobile non-holonome written by Clotilde Perrier and published by . This book was released on 1998 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Génération de mouvements pour un manipulateur mobile non-holonome

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ISBN 13 :
Total Pages : 149 pages
Book Rating : 4.:/5 (494 download)

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Book Synopsis Génération de mouvements pour un manipulateur mobile non-holonome by : Clotilde Perrier

Download or read book Génération de mouvements pour un manipulateur mobile non-holonome written by Clotilde Perrier and published by . This book was released on 1998 with total page 149 pages. Available in PDF, EPUB and Kindle. Book excerpt: L'EVOLUTION DE LA ROBOTIQUE CES DERNIERES ANNEES S'EST TOURNEE VERS DES SYSTEMES PRESENTANT A LA FOIS DES DEGRES DE MOBILITE ET DE MANIPULATION. DE TELS SYSTEMES SONT APPELES MANIPULATEURS MOBILES. LA TACHE A REALISER DANS LE CADRE DE CETTE THESE EST UNE TACHE DE POSITIONNEMENT DE L'EXTREMITE DE L'EFFECTEUR, - EN POSITION ET EN ORIENTATION -, EN VUE DE SAISIR UN OBJET. LE SYSTEME CONSIDERE, COMPOSE D'UNE PART D'UN VEHICULE DE TYPE VOITURE PRESENTANT UNE CONTRAINTE DE NON-HOLONOMIE ET D'AUTRE PART D'UN BRAS MANIPULATEUR, EST REDONDANT PAR RAPPORT A LA TACHE A REALISER. DEUX APPROCHES DE GENERATION DE MOUVEMENTS SONT PRESENTEES. LA PREMIERE, DITE LOCALE TENTE A CHAQUE INSTANT DE SE RAPPROCHER DU BUT SANS CONTRAINTE A PRIORI SUR LE TYPE DE TRAJECTOIRE FINALE OBTENUE. LA SECONDE APPROCHE, DITE GLOBALE, CONSIDERE LA TRAJECTOIRE GLOBALE DU SYSTEME ET CALCULE LES VARIABLES ARTICULAIRES TELLES QUE LA TRAJECTOIRE GLOBALE SOIT REALISABLE. APRES AVOIR OBTENU UNE SEQUENCE DE POINTS DE PASSAGE ET DE VARIABLES ARTICULAIRES DU GENERATEUR CITE CI-DESSUS, LA QUESTION DU SUIVI DE TRAJECTOIRE A L'AIDE DU PROTOTYPE DE MANIPULATEUR MOBILE DU LIRMM EST POSEE. UN ASSERVISSEMENT DANS L'ESPACE ARTICULAIRE EST PRESENTE, ACCOMPAGNE DE RESULTATS EXPERIMENTAUX. UN ASSERVISSEMENT DANS LES ESPACES DE CALCUL EST EGALEMENT PROPOSE ET DISCUTE.

GENERATION DE MOUVEMENTS COORDONNES POUR UN ENSEMBLE CONSTITUE D'UNE PLATEFORME MOBILE A ROUES ET D'UN BRAS MANIPULATEUR

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ISBN 13 :
Total Pages : 112 pages
Book Rating : 4.:/5 (49 download)

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Book Synopsis GENERATION DE MOUVEMENTS COORDONNES POUR UN ENSEMBLE CONSTITUE D'UNE PLATEFORME MOBILE A ROUES ET D'UN BRAS MANIPULATEUR by : GILLES.. FOULON

Download or read book GENERATION DE MOUVEMENTS COORDONNES POUR UN ENSEMBLE CONSTITUE D'UNE PLATEFORME MOBILE A ROUES ET D'UN BRAS MANIPULATEUR written by GILLES.. FOULON and published by . This book was released on 1998 with total page 112 pages. Available in PDF, EPUB and Kindle. Book excerpt: LES RECHERCHES QUI ONT ETE MENEES DANS LE CADRE DE CETTE THESE PORTENT SUR LE PROBLEME DE L'EXECUTION DE TACHES COMPLEXES PAR COORDINATION DES DEPLACEMENTS D'UNE PLATEFORME MOBILE NON HOLONOME ET D'UN BRAS MANIPULATEUR CONSTITUANT UN SYSTEME MECANIQUE APPELE MANIPULATEUR MOBILE. LE BUT DANS UN PREMIER TEMPS EST DE DONNER DES DEFINITIONS CLAIRES ET PRECISES A CERTAINES NOTIONS TELLES QUE LES CONFIGURATIONS REGULIERES ET SINGULIERES, LES REDONDANCES GEOMETRIQUES OU DIFFERENTIELLES ET LES DEGRES DE LIBERTE ET DE MOBILITE, AFIN D'ETABLIR CORRECTEMENT LES MODELES DE TRANSFORMATION ENTRE ESPACES QUI SONT A LA BASE DES METHODES DE SYNTHESE DE CES DEPLACEMENTS COORDONNES. NOUS PRESENTONS ENSUITE LES DIFFERENTS TYPES DE TACHES REALISABLES PAR LE SYSTEME MECANIQUE. NOUS EN DEDUISONS ALORS UN PLANIFICATEUR GENERALISE GLOBAL DE TRAJECTOIRES APPLICABLE A UN CERTAIN TYPE DE TACHE. DANS UN SECOND TEMPS, NOUS NOUS INTERESSONS A LA NOTION D'EVOLUTION TEMPORELLE DU MANIPULATEUR MOBILE. NOUS PRESENTONS DEUX METHODES DE SUIVI DE MOUVEMENTS OPERATIONNELS DECRIVANT LES TRAJECTOIRES PLANIFIEES. LA PREMIERE METHODE EST BASEE SUR LA FORMULATION D'EQUATIONS ADDITIONNELLES ET LA SECONDE METHODE CONSISTE EN LA MINIMISATION D'UN CRITERE ADEQUAT. ENFIN, NOUS APPLIQUONS CES DEUX METHODES A UN SYSTEME EXPERIMENTAL A HUIT DEGRES DE MOBILITE ET PRESENTONS LES RESULTATS OBTENUS.

Planification de mouvement pour robot mobile non-holonome

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ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (493 download)

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Book Synopsis Planification de mouvement pour robot mobile non-holonome by : Michel Taïx

Download or read book Planification de mouvement pour robot mobile non-holonome written by Michel Taïx and published by . This book was released on 1991 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Generation de trajectoires pour robot mobile non-holonome par gestion des centres de rotation

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ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (494 download)

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Book Synopsis Generation de trajectoires pour robot mobile non-holonome par gestion des centres de rotation by : Eric Pommier

Download or read book Generation de trajectoires pour robot mobile non-holonome par gestion des centres de rotation written by Eric Pommier and published by . This book was released on 1991 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Modeling, Identification and Control of Robots

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Publisher : Butterworth-Heinemann
ISBN 13 : 0080536611
Total Pages : 503 pages
Book Rating : 4.0/5 (85 download)

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Book Synopsis Modeling, Identification and Control of Robots by : W. Khalil

Download or read book Modeling, Identification and Control of Robots written by W. Khalil and published by Butterworth-Heinemann. This book was released on 2004-07-01 with total page 503 pages. Available in PDF, EPUB and Kindle. Book excerpt: Written by two of Europe's leading robotics experts, this book provides the tools for a unified approach to the modelling of robotic manipulators, whatever their mechanical structure. No other publication covers the three fundamental issues of robotics: modelling, identification and control. It covers the development of various mathematical models required for the control and simulation of robots.·World class authority·Unique range of coverage not available in any other book·Provides a complete course on robotic control at an undergraduate and graduate level

Robot Manipulators

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Publisher : Richard Paul
ISBN 13 : 9780262160827
Total Pages : 298 pages
Book Rating : 4.1/5 (68 download)

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Book Synopsis Robot Manipulators by : Richard P. Paul

Download or read book Robot Manipulators written by Richard P. Paul and published by Richard Paul. This book was released on 1981 with total page 298 pages. Available in PDF, EPUB and Kindle. Book excerpt: Homogeneous transformations; Kinematic equations; Solving kinematic equations; Differential relationships; Motion trajectories; Dynamics; Control; Static forces; Compliance; Programming.

Applications of Sliding Mode Control

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Publisher : Springer
ISBN 13 : 9811023743
Total Pages : 366 pages
Book Rating : 4.8/5 (11 download)

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Book Synopsis Applications of Sliding Mode Control by : Nabil Derbel

Download or read book Applications of Sliding Mode Control written by Nabil Derbel and published by Springer. This book was released on 2016-10-14 with total page 366 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents essential studies and applications in the context of sliding mode control, highlighting the latest findings from interdisciplinary theoretical studies, ranging from computational algorithm development to representative applications. Readers will learn how to easily tailor the techniques to accommodate their ad hoc applications. To make the content as accessible as possible, the book employs a clear route in each paper, moving from background to motivation, to quantitative development (equations), and lastly to case studies/illustrations/tutorials (simulations, experiences, curves, tables, etc.). Though primarily intended for graduate students, professors and researchers from related fields, the book will also benefit engineers and scientists from industry.

Foundations of Robotics

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Publisher : MIT Press
ISBN 13 : 9780262240284
Total Pages : 318 pages
Book Rating : 4.2/5 (42 download)

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Book Synopsis Foundations of Robotics by : Tsuneo Yoshikawa

Download or read book Foundations of Robotics written by Tsuneo Yoshikawa and published by MIT Press. This book was released on 1990 with total page 318 pages. Available in PDF, EPUB and Kindle. Book excerpt: Foundations of Robotics presents the fundamental concepts and methodologies for the analysis, design, and control of robot manipulators.

Underwater Robots

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Publisher : Springer
ISBN 13 : 3662143879
Total Pages : 201 pages
Book Rating : 4.6/5 (621 download)

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Book Synopsis Underwater Robots by : Gianluca Antonelli

Download or read book Underwater Robots written by Gianluca Antonelli and published by Springer. This book was released on 2013-11-21 with total page 201 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book deals with the state of the art in underwater robotics experiments of dynamic control of an underwater vehicle. The author presents experimental results on motion control and fault tolerance to thrusters’ faults with the autonomous vehicle ODIN. This second substantially improved and expanded edition new features are presented dealing with fault-tolerant control and coordinated control of autonomous underwater vehicles.

Informatics in Control Automation and Robotics

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Publisher : Springer Science & Business Media
ISBN 13 : 3642197302
Total Pages : 346 pages
Book Rating : 4.6/5 (421 download)

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Book Synopsis Informatics in Control Automation and Robotics by : Juan Andrade Cetto

Download or read book Informatics in Control Automation and Robotics written by Juan Andrade Cetto and published by Springer Science & Business Media. This book was released on 2011-03-15 with total page 346 pages. Available in PDF, EPUB and Kindle. Book excerpt: The present book includes a set of selected papers from the fourth “International Conference on Informatics in Control Automation and Robotics” (ICINCO 2009), held in Milan, Italy, from 2 to 5 July 2009. The conference was organized in three simultaneous tracks: “Intelligent Control Systems and Optimization”, “Robotics and Automation” and “Systems Modeling, Signal Processing and Control”. The book is based on the same structure. ICINCO received 365 paper submissions, not including those of workshops, from 55 countries, in all continents. After a double blind paper review performed by the Program Committee only 34 submissions were accepted as full papers and thus selected for oral presentation, leading to a full paper acceptance ratio of 9%. Additional papers were accepted as short papers and posters. A further refinement was made after the conference, based also on the assessment of presentation quality, so that this book includes the extended and revised versions of the very best papers of ICINCO 2009. Commitment to high quality standards is a major concern of ICINCO that will be maintained in the next editions of this conference, including not only the stringent paper acceptance ratios but also the quality of the program committee, keynote lectures, workshops and logistics.

Advances in Robot Kinematics

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Publisher : Springer
ISBN 13 : 3319066986
Total Pages : 536 pages
Book Rating : 4.3/5 (19 download)

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Book Synopsis Advances in Robot Kinematics by : Jadran Lenarčič

Download or read book Advances in Robot Kinematics written by Jadran Lenarčič and published by Springer. This book was released on 2014-05-19 with total page 536 pages. Available in PDF, EPUB and Kindle. Book excerpt: The topics addressed in this book cover the whole range of kinematic analysis, synthesis and design and consider robotic systems possessing serial, parallel and cable driven mechanisms. The robotic systems range from being less than fully mobile to kinematically redundant to over constrained. The fifty-six contributions report the latest results in robot kinematics with emphasis on emerging areas such as design and control of humanoids or humanoid subsystems. The book is of interest to researchers wanting to bring their knowledge up to date regarding modern topics in one of the basic disciplines in robotics, which relates to the essential property of robots, the motion of mechanisms.

RoboCup 2010: Robot Soccer World Cup XIV

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Publisher : Springer Science & Business Media
ISBN 13 : 3642202160
Total Pages : 441 pages
Book Rating : 4.6/5 (422 download)

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Book Synopsis RoboCup 2010: Robot Soccer World Cup XIV by : Javier Ruiz-del-Solar

Download or read book RoboCup 2010: Robot Soccer World Cup XIV written by Javier Ruiz-del-Solar and published by Springer Science & Business Media. This book was released on 2011-04-09 with total page 441 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book includes the thoroughly refereed post-conference proceedings of the 14th RoboCup International Symposium, held in Singapore, in June, 2010 - representing the scientific tracks structured in four sessions entitled simulation and rescue robots; robot perception and localization; robot motion and humanoid robots; and human robot interaction and semantic scene analysis. The 20 revised full papers and 16 revised short papers presented were carefully reviewed and selected from 78 submissions. Documenting the research advances of the RoboCup community since the predecessor symposium, this book constitutes a valuable source of reference and inspiration for R&D professionals interested in RoboCup or in robotics and distributed AI more generally.

Type Synthesis of Parallel Mechanisms

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Publisher : Springer
ISBN 13 : 3540719903
Total Pages : 280 pages
Book Rating : 4.5/5 (47 download)

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Book Synopsis Type Synthesis of Parallel Mechanisms by : Xianwen Kong

Download or read book Type Synthesis of Parallel Mechanisms written by Xianwen Kong and published by Springer. This book was released on 2007-10-28 with total page 280 pages. Available in PDF, EPUB and Kindle. Book excerpt: This unique monograph focuses on the systematic type synthesis of parallel mechanisms (PMs), a key issue in the creative design of a wide variety of innovative devices such as parallel manipulators, motion simulators, and haptic devices. Essential reading for researchers, developers, engineers and graduate students with interests in robotics, this book covers the classification of PMs as well as providing a large number of PMs ready to be used in practical applications.

Empirical Inference

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Publisher : Springer Science & Business Media
ISBN 13 : 3642411363
Total Pages : 295 pages
Book Rating : 4.6/5 (424 download)

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Book Synopsis Empirical Inference by : Bernhard Schölkopf

Download or read book Empirical Inference written by Bernhard Schölkopf and published by Springer Science & Business Media. This book was released on 2013-12-11 with total page 295 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book honours the outstanding contributions of Vladimir Vapnik, a rare example of a scientist for whom the following statements hold true simultaneously: his work led to the inception of a new field of research, the theory of statistical learning and empirical inference; he has lived to see the field blossom; and he is still as active as ever. He started analyzing learning algorithms in the 1960s and he invented the first version of the generalized portrait algorithm. He later developed one of the most successful methods in machine learning, the support vector machine (SVM) – more than just an algorithm, this was a new approach to learning problems, pioneering the use of functional analysis and convex optimization in machine learning. Part I of this book contains three chapters describing and witnessing some of Vladimir Vapnik's contributions to science. In the first chapter, Léon Bottou discusses the seminal paper published in 1968 by Vapnik and Chervonenkis that lay the foundations of statistical learning theory, and the second chapter is an English-language translation of that original paper. In the third chapter, Alexey Chervonenkis presents a first-hand account of the early history of SVMs and valuable insights into the first steps in the development of the SVM in the framework of the generalised portrait method. The remaining chapters, by leading scientists in domains such as statistics, theoretical computer science, and mathematics, address substantial topics in the theory and practice of statistical learning theory, including SVMs and other kernel-based methods, boosting, PAC-Bayesian theory, online and transductive learning, loss functions, learnable function classes, notions of complexity for function classes, multitask learning, and hypothesis selection. These contributions include historical and context notes, short surveys, and comments on future research directions. This book will be of interest to researchers, engineers, and graduate students engaged with all aspects of statistical learning.

Dynamics of Nonholonomic Systems

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Publisher : American Mathematical Soc.
ISBN 13 : 082183617X
Total Pages : 530 pages
Book Rating : 4.8/5 (218 download)

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Book Synopsis Dynamics of Nonholonomic Systems by : Juru Isaakovich Ne_mark

Download or read book Dynamics of Nonholonomic Systems written by Juru Isaakovich Ne_mark and published by American Mathematical Soc.. This book was released on 2004-07-16 with total page 530 pages. Available in PDF, EPUB and Kindle. Book excerpt: The goal of this book is to give a comprehensive and systematic exposition of the mechanics of nonholonomic systems, including the kinematics and dynamics of nonholonomic systems with classical nonholonomic constraints, the theory of stability of nonholonomic systems, technical problems of the directional stability of rolling systems, and the general theory of electrical machines. The book contains a large number of examples and illustrations.

Behavior-based Robotics

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Publisher : MIT Press
ISBN 13 : 9780262011655
Total Pages : 522 pages
Book Rating : 4.0/5 (116 download)

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Book Synopsis Behavior-based Robotics by : Ronald C. Arkin

Download or read book Behavior-based Robotics written by Ronald C. Arkin and published by MIT Press. This book was released on 1998 with total page 522 pages. Available in PDF, EPUB and Kindle. Book excerpt: Foreword by Michael Arbib This introduction to the principles, design, and practice of intelligent behavior-based autonomous robotic systems is the first true survey of this robotics field. The author presents the tools and techniques central to the development of this class of systems in a clear and thorough manner. Following a discussion of the relevant biological and psychological models of behavior, he covers the use of knowledge and learning in autonomous robots, behavior-based and hybrid robot architectures, modular perception, robot colonies, and future trends in robot intelligence. The text throughout refers to actual implemented robots and includes many pictures and descriptions of hardware, making it clear that these are not abstract simulations, but real machines capable of perception, cognition, and action.